A Dynamic Programming Approach to the Collision Avoidance of Autonomous Ships

The advancement of autonomous capabilities in maritime navigation has gained significant attention, with a trajectory moving from decision support systems to full autonomy. This push towards autonomy has led to extensive research focusing on collision avoidance, a critical aspect of safe navigation. Among the various possible approaches, dynamic programming is a promising tool for optimizing collision avoidance maneuvers. This paper presents a DP formulation for the collision avoidance of autonomous vessels. We set up the problem framework, formulate it as a multi-stage decision process, define cost functions and constraints focusing on the actual requirements a marine maneuver must comply with, and propose a solution algorithm leveraging parallel computing. Additionally, we present a greedy approximation to reduce algorithm complexity. We put the proposed algorithms to the test in realistic navigation scenarios and also develop an extensive test on a large set of randomly generated scenarios, comparing them with the RRT* algorithm using performance metrics proposed in the literature. The results show the potential benefits of an autonomous navigation or decision support framework.